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Mobile Ad Hoc Networks: Routing, MAC and Transport Issues Nitin H. Vaidya Texas A&M University [email protected] http://www.cs.tamu.edu/faculty/vaidya/ © 2000 Nitin Vaidya 1 Notes This tutorial is expected to be updated periodically to improve content and to correct any errors which may be discovered For updated set of tutorial slides, please go to http://www.cs.tamu.edu/faculty/vaidya and follow the link to Seminars 2 Notes Names in brackets, as in [Xyz00], refer to a document in the list of references The handout may not be as readable as the original slides, since the slides contain colored text and figures Note that different colors in the colored slides may look identically black in the black-and-white handout 3 Tutorial Outline Introduction Unicast routing Multicast routing Geocast routing Medium Access Control Performance of UDP and TCP Security Issues Implementation Issues Distributed Algorithms Standards activities Open problems 4 Statutory Warnings Only most important features of various schemes are typically discussed, i.e, features I consider as being important Others may disagree Most schemes include many more details, and optimizations Not possible to cover all details in this tutorial Be aware that some protocol specs have changed several times Jargon used to discuss a scheme may occasionally differ from that used by the proposers 5 Coverage Not intended to be exhaustive Many interesting papers not covered in the tutorial due to lack of time No judgement on those papers is implied 6 Mobile Ad Hoc Networks (MANET) Introduction and Generalities 7 Mobile Ad Hoc Networks Formed by wireless hosts which may be mobile Without (necessarily) using a pre-existing infrastructure Routes between nodes may potentially contain multiple hops 8 Mobile Ad Hoc Networks May need to traverse multiple links to reach a destination 9 Mobile Ad Hoc Networks (MANET) Mobility causes route changes 10 Why Ad Hoc Networks ? Ease of deployment Speed of deployment Decreased dependence on infrastructure 11 Many Applications Personal area networking cell phone, laptop, ear phone, wrist watch Military environments soldiers, tanks, planes Civilian environments taxi cab network meeting rooms sports stadiums boats, small aircraft Emergency operations search-and-rescue policing and fire fighting 12 Many Variations Fully Symmetric Environment all nodes have identical capabilities and responsibilities Asymmetric Capabilities transmission ranges and radios may differ battery life at different nodes may differ processing capacity may be different at different nodes speed of movement Asymmetric Responsibilities only some nodes may route packets some nodes may act as leaders of nearby nodes (e.g., cluster head) 13 Many Variations Traffic characteristics may differ in different ad hoc networks bit rate timeliness constraints reliability requirements unicast / multicast / geocast host-based addressing / content-based addressing / capability-based addressing May co-exist (and co-operate) with an infrastructurebased network 14 Many Variations Mobility patterns may be different people sitting at an airport lounge New York taxi cabs kids playing military movements personal area network Mobility characteristics speed predictability • direction of movement • pattern of movement uniformity (or lack thereof) of mobility characteristics among different nodes 15 Challenges Limited wireless transmission range Broadcast nature of the wireless medium Hidden terminal problem (see next slide) Packet losses due to transmission errors Mobility-induced route changes Mobility-induced packet losses Battery constraints Potentially frequent network partitions Ease of snooping on wireless transmissions (security hazard) 16 Hidden Terminal Problem A B C Nodes A and C cannot hear each other Transmissions by nodes A and C can collide at node B Nodes A and C are hidden from each other 17 Research on Mobile Ad Hoc Networks Variations in capabilities & responsibilities X Variations in traffic characteristics, mobility models, etc. X Performance criteria (e.g., optimize throughput, reduce energy consumption) + Increased research funding = Significant research activity 18 The Holy Grail A one-size-fits-all solution Perhaps using an adaptive/hybrid approach that can adapt to situation at hand Difficult problem Many solutions proposed trying to address a sub-space of the problem domain 19 Assumption Unless stated otherwise, fully symmetric environment is assumed implicitly all nodes have identical capabilities and responsibilities 20 Unicast Routing in Mobile Ad Hoc Networks 21 Why is Routing in MANET different ? Host mobility link failure/repair due to mobility may have different characteristics than those due to other causes Rate of link failure/repair may be high when nodes move fast New performance criteria may be used route stability despite mobility energy consumption 22 Unicast Routing Protocols Many protocols have been proposed Some have been invented specifically for MANET Others are adapted from previously proposed protocols for wired networks No single protocol works well in all environments some attempts made to develop adaptive protocols 23 Routing Protocols Proactive protocols Determine routes independent of traffic pattern Traditional link-state and distance-vector routing protocols are proactive Reactive protocols Maintain routes only if needed Hybrid protocols 24 Trade-Off Latency of route discovery Proactive protocols may have lower latency since routes are maintained at all times Reactive protocols may have higher latency because a route from X to Y will be found only when X attempts to send to Y Overhead of route discovery/maintenance Reactive protocols may have lower overhead since routes are determined only if needed Proactive protocols can (but not necessarily) result in higher overhead due to continuous route updating Which approach achieves a better trade-off depends 25 on the traffic and mobility patterns Overview of Unicast Routing Protocols 26 Flooding for Data Delivery Sender S broadcasts data packet P to all its neighbors Each node receiving P forwards P to its neighbors Sequence numbers used to avoid the possibility of forwarding the same packet more than once Packet P reaches destination D provided that D is reachable from sender S Node D does not forward the packet 27 Flooding for Data Delivery Y Z S E F B C M J A L G H K D I N Represents a node that has received packet P Represents that connected nodes are within each other’s transmission range 28 Flooding for Data Delivery Y Broadcast transmission Z S E F B C M J A L G H K D I N Represents a node that receives packet P for the first time Represents transmission of packet P 29 Flooding for Data Delivery Y Z S E F B C M J A L G H K D I N • Node H receives packet P from two neighbors: potential for collision 30 Flooding for Data Delivery Y Z S E F B C M J A L G H K I D N • Node C receives packet P from G and H, but does not forward it again, because node C has already forwarded packet P once 31 Flooding for Data Delivery Y Z S E F B C M J A L G H K I D N • Nodes J and K both broadcast packet P to node D • Since nodes J and K are hidden from each other, their transmissions may collide => Packet P may not be delivered to node D at all, despite the use of flooding 32 Flooding for Data Delivery Y Z S E F B C M J A L G H K D I N • Node D does not forward packet P, because node D is the intended destination of packet P 33 Flooding for Data Delivery Y Z S E F B C M J A L G H • Flooding completed K I D N • Nodes unreachable from S do not receive packet P (e.g., node Z) • Nodes for which all paths from S go through the destination D also do not receive packet P (example: node N) 34 Flooding for Data Delivery Y Z S E F B C M J A L G H K I • Flooding may deliver packets to too many nodes (in the worst case, all nodes reachable from sender may receive the packet) D N 35 Flooding for Data Delivery: Advantages Simplicity May be more efficient than other protocols when rate of information transmission is low enough that the overhead of explicit route discovery/maintenance incurred by other protocols is relatively higher this scenario may occur, for instance, when nodes transmit small data packets relatively infrequently, and many topology changes occur between consecutive packet transmissions Potentially higher reliability of data delivery Because packets may be delivered to the destination on multiple paths 36 Flooding for Data Delivery: Disadvantages Potentially, very high overhead Data packets may be delivered to too many nodes who do not need to receive them Potentially lower reliability of data delivery Flooding uses broadcasting -- hard to implement reliable broadcast delivery without significantly increasing overhead – Broadcasting in IEEE 802.11 MAC is unreliable In our example, nodes J and K may transmit to node D simultaneously, resulting in loss of the packet – in this case, destination would not receive the packet at all 37 Flooding of Control Packets Many protocols perform (potentially limited) flooding of control packets, instead of data packets The control packets are used to discover routes Discovered routes are subsequently used to send data packet(s) Overhead of control packet flooding is amortized over data packets transmitted between consecutive control packet floods 38 Dynamic Source Routing (DSR) [Johnson96] When node S wants to send a packet to node D, but does not know a route to D, node S initiates a route discovery Source node S floods Route Request (RREQ) Each node appends own identifier when forwarding RREQ 39 Route Discovery in DSR Y Z S E F B C M J A L G H K I D N Represents a node that has received RREQ for D from S 40 Route Discovery in DSR Y Broadcast transmission [S] S Z E F B C M J A L G H K I D N Represents transmission of RREQ [X,Y] Represents list of identifiers appended to RREQ 41 Route Discovery in DSR Y Z S E [S,E] F B C A M J [S,C] H G K I L D N • Node H receives packet RREQ from two neighbors: potential for collision 42 Route Discovery in DSR Y Z S E F B [S,E,F] C M J A L G H I [S,C,G] K D N • Node C receives RREQ from G and H, but does not forward it again, because node C has already forwarded RREQ once 43 Route Discovery in DSR Y Z S E [S,E,F,J] F B C M J A L G H K I D [S,C,G,K] • Nodes J and K both broadcast RREQ to node D • Since nodes J and K are hidden from each other, their transmissions may collide N 44 Route Discovery in DSR Y Z S E [S,E,F,J,M] F B C M J A L G H K D I • Node D does not forward RREQ, because node D is the intended target of the route discovery N 45 Route Discovery in DSR Destination D on receiving the first RREQ, sends a Route Reply (RREP) RREP is sent on a route obtained by reversing the route appended to received RREQ RREP includes the route from S to D on which RREQ was received by node D 46 Route Reply in DSR Y Z S E RREP [S,E,F,J,D] F B C M J A L G H K I Represents RREP control message D N 47 Route Reply in DSR Route Reply can be sent by reversing the route in Route Request (RREQ) only if links are guaranteed to be bi-directional To ensure this, RREQ should be forwarded only if it received on a link that is known to be bi-directional If unidirectional (asymmetric) links are allowed, then RREP may need a route discovery for S from node D Unless node D already knows a route to node S If a route discovery is initiated by D for a route to S, then the Route Reply is piggybacked on the Route Request from D. If IEEE 802.11 MAC is used to send data, then links have to be bi-directional (since Ack is used) 48 Dynamic Source Routing (DSR) Node S on receiving RREP, caches the route included in the RREP When node S sends a data packet to D, the entire route is included in the packet header hence the name source routing Intermediate nodes use the source route included in a packet to determine to whom a packet should be forwarded 49 Data Delivery in DSR Y DATA [S,E,F,J,D] S Z E F B C M J A L G H K I D N Packet header size grows with route length 50 When to Perform a Route Discovery When node S wants to send data to node D, but does not know a valid route node D 51 DSR Optimization: Route Caching Each node caches a new route it learns by any means When node S finds route [S,E,F,J,D] to node D, node S also learns route [S,E,F] to node F When node K receives Route Request [S,C,G] destined for node, node K learns route [K,G,C,S] to node S When node F forwards Route Reply RREP [S,E,F,J,D], node F learns route [F,J,D] to node D When node E forwards Data [S,E,F,J,D] it learns route [E,F,J,D] to node D A node may also learn a route when it overhears 52 Data packets Use of Route Caching When node S learns that a route to node D is broken, it uses another route from its local cache, if such a route to D exists in its cache. Otherwise, node S initiates route discovery by sending a route request Node X on receiving a Route Request for some node D can send a Route Reply if node X knows a route to node D Use of route cache can speed up route discovery can reduce propagation of route requests 53 Use of Route Caching [S,E,F,J,D] [E,F,J,D] S [F,J,D],[F,E,S] E F B [J,F,E,S] C J [C,S] A M L G H [G,C,S] D K I N Z [P,Q,R] Represents cached route at a node (DSR maintains the cached routes in a tree format) 54 Use of Route Caching: Can Speed up Route Discovery [S,E,F,J,D] [E,F,J,D] S [F,J,D],[F,E,S] E F B C [G,C,S] [C,S] A [J,F,E,S] M J L G H I [K,G,C,S] K D RREP N RREQ When node Z sends a route request for node C, node K sends back a route reply [Z,K,G,C] to node Z using a locally cached route Z 55 Use of Route Caching: Can Reduce Propagation of Route Requests [S,E,F,J,D] Y [E,F,J,D] S [F,J,D],[F,E,S] E F B C [G,C,S] [C,S] A [J,F,E,S] M J L G H I D [K,G,C,S] K RREP N RREQ Z Assume that there is no link between D and Z. Route Reply (RREP) from node K limits flooding of RREQ. In general, the reduction may be less dramatic. 56 Route Error (RERR) Y RERR [J-D] S Z E F B C M J A L G H K I D N J sends a route error to S along route J-F-E-S when its attempt to forward the data packet S (with route SEFJD) on J-D fails Nodes hearing RERR update their route cache to remove link J-D 57 Route Caching: Beware! Stale caches can adversely affect performance With passage of time and host mobility, cached routes may become invalid A sender host may try several stale routes (obtained from local cache, or replied from cache by other nodes), before finding a good route An illustration of the adverse impact on TCP will be discussed later in the tutorial [Holland99] 58 Dynamic Source Routing: Advantages Routes maintained only between nodes who need to communicate reduces overhead of route maintenance Route caching can further reduce route discovery overhead A single route discovery may yield many routes to the destination, due to intermediate nodes replying from local caches 59 Dynamic Source Routing: Disadvantages Packet header size grows with route length due to source routing Flood of route requests may potentially reach all nodes in the network Care must be taken to avoid collisions between route requests propagated by neighboring nodes insertion of random delays before forwarding RREQ Increased contention if too many route replies come back due to nodes replying using their local cache Route Reply Storm problem Reply storm may be eased by preventing a node from sending RREP if it hears another RREP with a shorter route 60 Dynamic Source Routing: Disadvantages An intermediate node may send Route Reply using a stale cached route, thus polluting other caches This problem can be eased if some mechanism to purge (potentially) invalid cached routes is incorporated. For some proposals for cache invalidation, see [Hu00Mobicom] 61 Flooding of Control Packets How to reduce the scope of the route request flood ? LAR [Ko98Mobicom] Query localization [Castaneda99Mobicom] How to reduce redundant broadcasts ? The Broadcast Storm Problem [Ni99Mobicom] 62 Location-Aided Routing (LAR) [Ko98Mobicom] Exploits location information to limit scope of route request flood Location information may be obtained using GPS Expected Zone is determined as a region that is expected to hold the current location of the destination Expected region determined based on potentially old location information, and knowledge of the destination’s speed Route requests limited to a Request Zone that contains the Expected Zone and location of the sender node 63 Expected Zone in LAR X = last known location of node D, at time t0 Y = location of node D at current time t1, unknown to node S r = (t1 - t0) * estimate of D’s speed r X Y Expected Zone 64 Request Zone in LAR Network Space Request Zone r B A X Y S 65 LAR Only nodes within the request zone forward route requests Node A does not forward RREQ, but node B does (see previous slide) Request zone explicitly specified in the route request Each node must know its physical location to determine whether it is within the request zone 66 LAR Only nodes within the request zone forward route requests If route discovery using the smaller request zone fails to find a route, the sender initiates another route discovery (after a timeout) using a larger request zone the larger request zone may be the entire network Rest of route discovery protocol similar to DSR 67 LAR Variations: Adaptive Request Zone Each node may modify the request zone included in the forwarded request Modified request zone may be determined using more recent/accurate information, and may be smaller than the original request zone B S Request zone adapted by B Request zone defined by sender S 68 LAR Variations: Implicit Request Zone In the previous scheme, a route request explicitly specified a request zone Alternative approach: A node X forwards a route request received from Y if node X is deemed to be closer to the expected zone as compared to Y The motivation is to attempt to bring the route request physically closer to the destination node after each forwarding 69 Location-Aided Routing The basic proposal assumes that, initially, location information for node X becomes known to Y only during a route discovery This location information is used for a future route discovery Each route discovery yields more updated information which is used for the next discovery Variations Location information can also be piggybacked on any message from Y to X Y may also proactively distribute its location information Similar to other protocols discussed later (e.g., DREAM, 70 GLS) Location Aided Routing (LAR) Advantages reduces the scope of route request flood reduces overhead of route discovery Disadvantages Nodes need to know their physical locations Does not take into account possible existence of obstructions for radio transmissions 71 Detour Routing Using Location Information 72 Distance Routing Effect Algorithm for Mobility (DREAM) [Basagni98Mobicom] Uses location and speed information (like LAR) DREAM uses flooding of data packets as the routing mechanism (unlike LAR) DREAM uses location information to limit the flood of data packets to a small region 73 Distance Routing Effect Algorithm for Mobility (DREAM) Expected zone (in the LAR jargon) Node A, on receiving the data packet, forwards it to its neighbors within the cone rooted at node A D A S S sends data packet to all neighbors in the cone rooted at node S 74 Distance Routing Effect Algorithm for Mobility (DREAM) Nodes periodically broadcast their physical location Nearby nodes are updated more frequently, far away nodes less frequently Distance effect: Far away nodes seem to move at a lower angular speed as compared to nearby nodes Location update’s time-to-live field used to control how far the information is propagated 75 Relative Distance Micro-Discovery Routing (RDMAR) [Aggelou99Wowmom] Estimates distance between source and intended destination in number of hops Sender node sends route request with time-to-live (TTL) equal to the above estimate Hop distance estimate based on the physical distance that the nodes may have traveled since the previous route discovery, and transmission range 76 Geographic Distance Routing (GEDIR) [Lin98] Location of the destination node is assumed known Each node knows location of its neighbors Each node forwards a packet to its neighbor closest to the destination Route taken from S to D shown below H A S D B E F C G obstruction 77 Geographic Distance Routing (GEDIR) [Stojmenovic99] The algorithm terminates when same edge traversed twice consecutively Algorithm fails to route from S to E Node G is the neighbor of C who is closest from destination E, but C does not have a route to E H A S D B E F C G obstruction 78 Routing with Guaranteed Delivery [Bose99Dialm] Improves on GEDIR [Lin98] Guarantees delivery (using location information) provided that a path exists from source to destination Routes around obstacles if necessary A similar idea also appears in [Karp00Mobicom] 79 Grid Location Service (GLS) [Li00Mobicom] A cryptic discussion of this scheme due to lack of time: Each node maintains its location information at other nodes in the network Density of nodes who know location of node X decreases as distance from X increases Each node updates its location periodically -- nearby nodes receive the updates more often than far away nodes A hierarchical grid structure used to define near and far 80 End of Detour Back to Reducing Scope of the Route Request Flood 81 Query Localization [Castaneda99Mobicom] Limits route request flood without using physical information Route requests are propagated only along paths that are close to the previously known route The closeness property is defined without using physical location information 82 Query Localization Path locality heuristic: Look for a new path that contains at most k nodes that were not present in the previously known route Old route is piggybacked on a Route Request Route Request is forwarded only if the accumulated route in the Route Request contains at most k new nodes that were absent in the old route this limits propagation of the route request 83 Query Localization: Example G G F F E Node D moved B C A D Node F does not forward the route request since it is not on any route from S to D that contains at most 2 new nodes E D B C A Permitted routes with k = 2 Initial route from S to D S S 84 Query Localization Advantages: Reduces overhead of route discovery without using physical location information Can perform better in presence of obstructions by searching for new routes in the vicinity of old routes Disadvantage: May yield routes longer than LAR (Shortest route may contain more than k new nodes) 85 Broadcast Storm Problem [Ni99Mobicom] When node A broadcasts a route query, nodes B and C both receive it B and C both forward to their neighbors B and C transmit at about the same time since they are reacting to receipt of the same message from A This results in a high probability of collisions D B C A 86 Broadcast Storm Problem Redundancy: A given node may receive the same route request from too many nodes, when one copy would have sufficed Node D may receive from nodes B and C both D B C A 87 Solutions for Broadcast Storm Probabilistic scheme: On receiving a route request for the first time, a node will re-broadcast (forward) the request with probability p Also, re-broadcasts by different nodes should be staggered by using a collision avoidance technique (wait a random delay when channel is idle) this would reduce the probability that nodes B and C would forward a packet simultaneously in the previous example 88 Solutions for Broadcast Storms Counter-Based Scheme: If node E hears more than k neighbors broadcasting a given route request, before it can itself forward it, then node E will not forward the request Intuition: k neighbors together have probably already forwarded the request to all of E’s neighbors D E B C F A 89 Solutions for Broadcast Storms Distance-Based Scheme: If node E hears RREQ broadcasted by some node Z within physical distance d, then E will not re-broadcast the request Intuition: Z and E are too close, so transmission areas covered by Z and E are not very different if E re-broadcasts the request, not many nodes who have not already heard the request from Z will hear the request E <d Z 90 Summary: Broadcast Storm Problem Flooding is used in many protocols, such as Dynamic Source Routing (DSR) Problems associated with flooding collisions redundancy Collisions may be reduced by “jittering” (waiting for a random interval before propagating the flood) Redundancy may be reduced by selectively rebroadcasting packets from only a subset of the nodes 91 Ad Hoc On-Demand Distance Vector Routing (AODV) [Perkins99Wmcsa] DSR includes source routes in packet headers Resulting large headers can sometimes degrade performance particularly when data contents of a packet are small AODV attempts to improve on DSR by maintaining routing tables at the nodes, so that data packets do not have to contain routes AODV retains the desirable feature of DSR that routes are maintained only between nodes which need to communicate 92 AODV Route Requests (RREQ) are forwarded in a manner similar to DSR When a node re-broadcasts a Route Request, it sets up a reverse path pointing towards the source AODV assumes symmetric (bi-directional) links When the intended destination receives a Route Request, it replies by sending a Route Reply Route Reply travels along the reverse path set-up when Route Request is forwarded 93 Route Requests in AODV Y Z S E F B C M J A L G H K I D N Represents a node that has received RREQ for D from S 94 Route Requests in AODV Y Broadcast transmission Z S E F B C M J A L G H K I D N Represents transmission of RREQ 95 Route Requests in AODV Y Z S E F B C M J A L G H K D I N Represents links on Reverse Path 96 Reverse Path Setup in AODV Y Z S E F B C M J A L G H K I D N • Node C receives RREQ from G and H, but does not forward it again, because node C has already forwarded RREQ once 97 Reverse Path Setup in AODV Y Z S E F B C M J A L G H K I D N 98 Reverse Path Setup in AODV Y Z S E F B C M J A L G H K D I • Node D does not forward RREQ, because node D is the intended target of the RREQ N 99 Route Reply in AODV Y Z S E F B C M J A L G H K D I N Represents links on path taken by RREP 100 Route Reply in AODV An intermediate node (not the destination) may also send a Route Reply (RREP) provided that it knows a more recent path than the one previously known to sender S To determine whether the path known to an intermediate node is more recent, destination sequence numbers are used The likelihood that an intermediate node will send a Route Reply when using AODV not as high as DSR A new Route Request by node S for a destination is assigned a higher destination sequence number. An intermediate node which knows a route, but with a smaller sequence number, cannot send Route Reply 101 Forward Path Setup in AODV Y Z S E F B C M J A L G H K D I N Forward links are setup when RREP travels along the reverse path Represents a link on the forward path 102 Data Delivery in AODV Y DATA Z S E F B C M J A L G H K D I N Routing table entries used to forward data packet. Route is not included in packet header. 103 Timeouts A routing table entry maintaining a reverse path is purged after a timeout interval timeout should be long enough to allow RREP to come back A routing table entry maintaining a forward path is purged if not used for a active_route_timeout interval if no is data being sent using a particular routing table entry, that entry will be deleted from the routing table (even if the route may actually still be valid) 104 Link Failure Reporting A neighbor of node X is considered active for a routing table entry if the neighbor sent a packet within active_route_timeout interval which was forwarded using that entry When the next hop link in a routing table entry breaks, all active neighbors are informed Link failures are propagated by means of Route Error messages, which also update destination sequence numbers 105 Route Error When node X is unable to forward packet P (from node S to node D) on link (X,Y), it generates a RERR message Node X increments the destination sequence number for D cached at node X The incremented sequence number N is included in the RERR When node S receives the RERR, it initiates a new route discovery for D using destination sequence number at least as large as N 106 Destination Sequence Number Continuing from the previous slide … When node D receives the route request with destination sequence number N, node D will set its sequence number to N, unless it is already larger than N 107 Link Failure Detection Hello messages: Neighboring nodes periodically exchange hello message Absence of hello message is used as an indication of link failure Alternatively, failure to receive several MAC-level acknowledgement may be used as an indication of link failure 108 Why Sequence Numbers in AODV To avoid using old/broken routes To determine which route is newer To prevent formation of loops A B C D E Assume that A does not know about failure of link C-D because RERR sent by C is lost Now C performs a route discovery for D. Node A receives the RREQ (say, via path C-E-A) Node A will reply since A knows a route to D via node B Results in a loop (for instance, C-E-A-B-C ) 109 Why Sequence Numbers in AODV A B C D E Loop C-E-A-B-C 110 Optimization: Expanding Ring Search Route Requests are initially sent with small Time-toLive (TTL) field, to limit their propagation DSR also includes a similar optimization If no Route Reply is received, then larger TTL tried 111 Summary: AODV Routes need not be included in packet headers Nodes maintain routing tables containing entries only for routes that are in active use At most one next-hop per destination maintained at each node DSR may maintain several routes for a single destination Unused routes expire even if topology does not change 112 Many Other Protocols Many variations on the basic approach of using control packet flooding for route discovery have been proposed 113 Power-Aware Routing [Singh98Mobicom,Chang00Infocom] Define optimization criteria as a function of energy consumption. Examples: Minimize energy consumed per packet Minimize time to network partition due to energy depletion Maximize duration before a node fails due to energy depletion ... 114 Power-Aware Routing [Singh98Mobicom] Assign a weigh to each link Weight of a link may be a function of energy consumed when transmitting a packet on that link, as well as the residual energy level low residual energy level may correspond to a high cost Prefer a route with the smallest aggregate weight 115 Power-Aware Routing Possible modification to DSR to make it power aware (for simplicity, assume no route caching): Route Requests aggregate the weights of all traversed links Destination responds with a Route Reply to a Route Request if it is the first RREQ with a given (“current”) sequence number, or its weight is smaller than all other RREQs received with the current sequence number 116 Signal Stability Based Adaptive Routing (SSA) [Dube97] Similar to DSR A node X re-broadcasts a Route Request received from Y only if the (X,Y) link is deemed to have a strong signal stability Signal stability is evaluated as a moving average of the signal strength of packets received on the link in recent past An alternative approach would be to assign a cost as a function of signal stability 117 Associativity-Based Routing (ABR) [Toh97] Only links that have been stable for some minimum duration are utilized motivation: If a link has been stable beyond some minimum threshold, it is likely to be stable for a longer interval. If it has not been stable longer than the threshold, then it may soon break (could be a transient link) Association stability determined for each link measures duration for which the link has been stable Prefer paths with high aggregate association stability 118 So far ... All protocols discussed so far perform some form of flooding Now we will consider protocols which try to reduce/avoid such behavior 119 Link Reversal Algorithm [Gafni81] A B F C E G D 120 Link Reversal Algorithm A B F Links are bi-directional But algorithm imposes logical directions on them C E D G Maintain a directed acyclic graph (DAG) for each destination, with the destination being the only sink This DAG is for destination node D 121 Link Reversal Algorithm A B F C E G Link (G,D) broke D Any node, other than the destination, that has no outgoing links reverses all its incoming links. 122 Node G has no outgoing links Link Reversal Algorithm A B F C E G Represents a link that was reversed recently D Now nodes E and F have no outgoing links 123 Link Reversal Algorithm A B F C E G Represents a link that was reversed recently D Now nodes B and G have no outgoing links 124 Link Reversal Algorithm A B F C E G Represents a link that was reversed recently D Now nodes A and F have no outgoing links 125 Link Reversal Algorithm A B F C E G Represents a link that was reversed recently D Now all nodes (other than destination D) have an outgoing link 126 Link Reversal Algorithm A B F C E G D DAG has been restored with only the destination as a sink 127 Link Reversal Algorithm Attempts to keep link reversals local to where the failure occurred But this is not guaranteed When the first packet is sent to a destination, the destination oriented DAG is constructed The initial construction does result in flooding of control packets 128 Link Reversal Algorithm The previous algorithm is called a full reversal method since when a node reverses links, it reverses all its incoming links Partial reversal method [Gafni81]: A node reverses incoming links from only those neighbors who have not themselves reversed links “previously” If all neighbors have reversed links, then the node reverses all its incoming links “Previously” at node X means since the last link reversal done by node X 129 Partial Reversal Method A B F C E G Link (G,D) broke D Node G has no outgoing links 130 Partial Reversal Method A B F C E G D Represents a link that was reversed recently Represents a node that has reversed links Now nodes E and F have no outgoing links 131 Partial Reversal Method A B F C E G Represents a link that was reversed recently D Nodes E and F do not reverse links from node G Now node B has no outgoing links 132 Partial Reversal Method A B F C E G Represents a link that was reversed recently D Now node A has no outgoing links 133 Partial Reversal Method A B F C E G Represents a link that was reversed recently D Now all nodes (except destination D) have outgoing links 134 Partial Reversal Method A B F C E G D DAG has been restored with only the destination as a sink 135 Link Reversal Methods: Advantages Link reversal methods attempt to limit updates to routing tables at nodes in the vicinity of a broken link Partial reversal method tends to be better than full reversal method Each node may potentially have multiple routes to a destination 136 Link Reversal Methods: Disadvantage Need a mechanism to detect link failure hello messages may be used but hello messages can add to contention If network is partitioned, link reversals continue indefinitely 137 Link Reversal in a Partitioned Network A B F C E G D This DAG is for destination node D 138 Full Reversal in a Partitioned Network A B F C E G D A and G do not have outgoing links 139 Full Reversal in a Partitioned Network A B F C E G D E and F do not have outgoing links 140 Full Reversal in a Partitioned Network A B F C E G D B and G do not have outgoing links 141 Full Reversal in a Partitioned Network A B F C E G D E and F do not have outgoing links 142 Full Reversal in a Partitioned Network A B F C E G In the partition disconnected from destination D, link reversals continue, until the partitions merge Need a mechanism to minimize this wasteful activity D Similar scenario can occur with partial reversal method too 143 Temporally-Ordered Routing Algorithm (TORA) [Park97Infocom] TORA modifies the partial link reversal method to be able to detect partitions When a partition is detected, all nodes in the partition are informed, and link reversals in that partition cease 144 Partition Detection in TORA B DAG for destination D A C E D F 145 Partition Detection in TORA B A C E D F Node A has no outgoing links TORA uses a modified partial reversal method 146 Partition Detection in TORA B A C E D F Node B has no outgoing links TORA uses a modified partial reversal method 147 Partition Detection in TORA B A C E D F Node B has no outgoing links 148 Partition Detection in TORA B A C E D F Node C has no outgoing links -- all its neighbor have reversed links previously. 149 Partition Detection in TORA B A C E D F Nodes A and B receive the reflection from node C Node B now has no outgoing link 150 Partition Detection in TORA B A C E Node B propagates the reflection to node A D F Node A has received the reflection from all its neighbors. Node A determines that it is partitioned from destination D. 151 Partition Detection in TORA B A C E On detecting a partition, node A sends a clear (CLR) message that purges all directed links in that partition D F 152 TORA Improves on the partial link reversal method in [Gafni81] by detecting partitions and stopping nonproductive link reversals Paths may not be shortest The DAG provides many hosts the ability to send packets to a given destination Beneficial when many hosts want to communicate with a single destination 153 TORA Design Decision TORA performs link reversals as dictated by [Gafni81] However, when a link breaks, it looses its direction When a link is repaired, it may not be assigned a direction, unless some node has performed a route discovery after the link broke if no one wants to send packets to D anymore, eventually, the DAG for destination D may disappear TORA makes effort to maintain the DAG for D only if someone needs route to D 154 Reactive behavior TORA Design Decision One proposal for modifying TORA optionally allowed a more proactive behavior, such that a DAG would be maintained even if no node is attempting to transmit to the destination Moral of the story: The link reversal algorithm in [Gafni81] does not dictate a proactive or reactive response to link failure/repair Decision on reactive/proactive behavior should be made based on environment under consideration 155 So far ... All nodes had identical responsibilities Some schemes propose giving special responsibilities to a subset of nodes Even if all nodes are physically identical Core-based schemes are examples of such schemes 156 Asymmetric Responsibilities 157 Core-Extraction Distributed Ad Hoc Routing (CEDAR) [Sivakumar99] A subset of nodes in the network is identified as the core Each node in the network must be adjacent to at least one node in the core Each node picks one core node as its dominator (or leader) Core is determined by periodic message exchanges between each node and its neighbors attempt made to keep the number of nodes in the core small Each core node determines paths to nearby core nodes by means of a localized broadcast Each core node guaranteed to have a core node at <=3 hops 158 CEDAR: Core Nodes A G D H B C E F S A core node J K Node E is the dominator for nodes D, F and K 159 Link State Propagation in CEDAR The distance to which the state of a link is propagated in the network is a function of whether the link is stable -- state of unstable links is not propagated very far whether the link bandwidth is high or low -- only state of links with high bandwidth is propagated far Link state propagation occurs among core nodes Link state information includes dominators of link end-points Each core node knows the state of local links and stable high bandwidth links far away 160 Route Discovery in CEDAR When a node S wants to send packets to destination D Node S informs its dominator core node B Node B finds a route in the core network to the core node E which is the dominator for destination D This is done by means of a DSR-like route discovery (but somewhat optimized) process among the core nodes Core nodes on the above route then build a route from S to D using locally available link state information Route from S to D may or may not include core nodes 161 CEDAR: Core Maintenance A G D H B C E F S J K A core node 162 Link State at Core Nodes A G D H B C E F S J K Links that node B is aware of 163 CEDAR Route Discovery A G D H B C E F S J K Partial route constructed by B Links that node C is aware of 164 CEDAR Route Discovery A G D H B C E F S J K Complete route -- last two hops determined by node C 165 CEDAR Advantages Route discovery/maintenance duties limited to a small number of core nodes Link state propagation a function of link stability/quality Disadvantages Core nodes have to handle additional traffic, associated with route discovery and maintenance 166 Asymmetric Responsibilities: Cluster-Based Schemes Some cluster-based schemes have also been proposed [Gerla95,Krishna97,Amis00] In some cluster-based schemes, a leader is elected for each cluster of node The leader often has some special responsibilities Different schemes may differ in how clusters are determined the way cluster head (leader) is chosen duties assigned to the cluster head 167 Proactive Protocols Most of the schemes discussed so far are reactive Proactive schemes based on distance-vector and link-state mechanisms have also been proposed 168 Link State Routing [Huitema95] Each node periodically floods status of its links Each node re-broadcasts link state information received from its neighbor Each node keeps track of link state information received from other nodes Each node uses above information to determine next hop to each destination 169 Optimized Link State Routing (OLSR) [Jacquet00ietf,Jacquet99Inria] The overhead of flooding link state information is reduced by requiring fewer nodes to forward the information A broadcast from node X is only forwarded by its multipoint relays Multipoint relays of node X are its neighbors such that each two-hop neighbor of X is a one-hop neighbor of at least one multipoint relay of X Each node transmits its neighbor list in periodic beacons, so that all nodes can know their 2-hop neighbors, in order to choose the multipoint relays 170 Optimized Link State Routing (OLSR) Nodes C and E are multipoint relays of node A F B A C G J E H K D Node that has broadcast state information from A 171 Optimized Link State Routing (OLSR) Nodes C and E forward information received from A F B A C G J E H K D Node that has broadcast state information from A 172 Optimized Link State Routing (OLSR) Nodes E and K are multipoint relays for node H Node K forwards information received from H E has already forwarded the same information once F B A C G J E H K D Node that has broadcast state information from A 173 OLSR OLSR floods information through the multipoint relays The flooded itself is fir links connecting nodes to respective multipoint relays Routes used by OLSR only include multipoint relays as intermediate nodes 174 Destination-Sequenced Distance-Vector (DSDV) [Perkins94Sigcomm] Each node maintains a routing table which stores next hop towards each destination a cost metric for the path to each destination a destination sequence number that is created by the destination itself Sequence numbers used to avoid formation of loops Each node periodically forwards the routing table to its neighbors Each node increments and appends its sequence number when sending its local routing table This sequence number will be attached to route entries created for this node 175 Destination-Sequenced Distance-Vector (DSDV) Assume that node X receives routing information from Y about a route to node Z X Y Z Let S(X) and S(Y) denote the destination sequence number for node Z as stored at node X, and as sent by node Y with its routing table to node X, respectively 176 Destination-Sequenced Distance-Vector (DSDV) Node X takes the following steps: X Y Z If S(X) > S(Y), then X ignores the routing information received from Y If S(X) = S(Y), and cost of going through Y is smaller than the route known to X, then X sets Y as the next hop to Z If S(X) < S(Y), then X sets Y as the next hop to Z, and S(X) is updated to equal S(Y) 177 Hybrid Protocols 178 Zone Routing Protocol (ZRP) [Haas98] Zone routing protocol combines Proactive protocol: which pro-actively updates network state and maintains route regardless of whether any data traffic exists or not Reactive protocol: which only determines route to a destination if there is some data to be sent to the destination 179 ZRP All nodes within hop distance at most d from a node X are said to be in the routing zone of node X All nodes at hop distance exactly d are said to be peripheral nodes of node X’s routing zone 180 ZRP Intra-zone routing: Pro-actively maintain state information for links within a short distance from any given node Routes to nodes within short distance are thus maintained proactively (using, say, link state or distance vector protocol) Inter-zone routing: Use a route discovery protocol for determining routes to far away nodes. Route discovery is similar to DSR with the exception that route requests are propagated via peripheral nodes. 181 ZRP: Example with Zone Radius = d = 2 S performs route discovery for D B S A F Denotes route request C E D 182 ZRP: Example with d = 2 S performs route discovery for D B S A F Denotes route reply C E D E knows route from E to D, so route request need not be 183 forwarded to D from E ZRP: Example with d = 2 S performs route discovery for D B S A C F Denotes route taken by Data E D 184 Landmark Routing (LANMAR) for MANET with Group Mobility [Pei00Mobihoc] A landmark node is elected for a group of nodes that are likely to move together A scope is defined such that each node would typically be within the scope of its landmark node Each node propagates link state information corresponding only to nodes within it scope and distance-vector information for all landmark nodes Combination of link-state and distance-vector Distance-vector used for landmark nodes outside the scope No state information for non-landmark nodes outside scope maintained 185 LANMAR Routing to Nodes Within Scope Assume that node C is within scope of node A H C A B G D E F Routing from A to C: Node A can determine next hop to node C using the available link state information 186 LANMAR Routing to Nodes Outside Scope Routing from node A to F which is outside A’s scope Let H be the landmark node for node F H C A B G D E F Node A somehow knows that H is the landmark for C Node A can determine next hop to node H using the available distance vector information 187 LANMAR Routing to Nodes Outside Scope Node D is within scope of node F H C A B G D E F Node D can determine next hop to node F using link state information The packet for F may never reach the landmark node H, even though initially node A sends it towards H 188 LANMAR scheme uses node identifiers as landmarks Anchored Geodesic Scheme [LeBoudec00] uses geographical regions as landmarks 189 Geodesic Routing Without Anchors [Blazevic00,Hubaux00wcnc] Each node somehow keeps track of routes to nodes within its zone (intra-zone routing) Each node also records physical locations of nodes on its zone boundary Inter-zone routing: When a packet is to be routed to someone outside the zone, the packet is sent to a zone-boundary node in the direction of the destination The packet is forwarded in this manner until it reaches someone within the destination’s zone This node then uses intra-zone routing to deliver the packet 190 Similar to the GEDIR protocol [Lin98] Anchored Geodesic Routing [Blazevic00,Hubaux00wcnc] Anchors can be used to go around connectivity holes Anchors are physical locations/areas. The route may be specified as a series of intermediate physical areas to be traversed to reach the destination B A 191 Routing Protocols discussed so far find/maintain a route provided it exists Some protocols attempt to ensure that a route exists by Power Control [Ramanathan00Infocom] Limiting movement of hosts or forcing them to take detours [Reuben98thesis] 192 Power Control Protocols discussed so far find a route, on a given network topology Some researchers propose controlling network topology by transmission power control to yield network properties which may be desirable [Ramanathan00Infocom] Such approaches can significantly impact performance at several layers of protocol stack 193 Other Routing Protocols Plenty of other routing protocols Discussion here is far from exhaustive Several protocols implemented in the internet [Huitema95] Many of the existing protocols could potentially be adapted for MANET (some have already been adapted as discussed earlier) 194 QoS Routing 195 Quality-of-Service Several proposals for reserving bandwidth for a flow in MANET Due to lack of time, these are not being discussed in this tutorial 196 Performance of Unicast Routing in MANET Several performance comparisons [Broch98Mobicom,Johansson99Mobicom,Das00Infocom, Das98ic3n] We will discuss performance issue later in the tutorial 197 Multicasting in Mobile Ad Hoc Networks 198 Multicasting A multicast group is defined with a unique group identifier Nodes may join or leave the multicast group anytime In traditional networks, the physical network topology does not change often In MANET, the physical topology can change often 199 Multicasting in MANET Need to take topology change into account when designing a multicast protocol Several new protocols have been proposed for multicasting in MANET 200 AODV Multicasting [Royer00Mobicom] Each multicast group has a group leader Group leader is responsible for maintaining group sequence number (which is used to ensure freshness of routing information) Similar to sequence numbers for AODV unicast First node joining a group becomes group leader A node on becoming a group leader, broadcasts a Group Hello message 201 AODV Group Sequence Number In our illustrations, we will ignore the group sequence numbers However, note that a node makes use of information received only with recent enough sequence number 202 AODV Multicast Tree Multicast tree links Group leader E L C J G H D K A B Group and multicast tree member Tree (but not group) member N 203 Joining the Multicast Tree: AODV Group leader E L C J G H D K A B N Route Request (RREQ) N wishes to join the group: it floods RREQ 204 Joining the Multicast Tree: AODV Group leader E L C J G H D K A B N Route Reply (RREP) N wishes to join the group 205 Joining the Multicast Tree: AODV Group leader E L C J G H D K A B N Multicast Activation (MACT) N wishes to join the group 206 Joining the Multicast Tree: AODV Multicast tree links Group leader E L C J G H D K A B Group member Tree (but not group) member N N has joined the group 207 Sending Data on the Multicast Tree Data is delivered along the tree edges maintained by the Multicast AODV algorithm If a node which does not belong to the multicast group wishes to multicast a packet It sends a non-join RREQ which is treated similar in many ways to RREQ for joining the group As a result, the sender finds a route to a multicast group member Once data is delivered to this group member, the data is delivered to remaining members along multicast tree edges 208 Leaving a Multicast Tree: AODV Multicast tree links Group leader E L C J J wishes to leave the group G H D K A B N 209 Leaving a Multicast Tree: AODV Since J is not a leaf node, it must remain a tree member Group leader E L C J J has left the group G H D K A B N 210 Leaving a Multicast Tree: AODV Group leader E L C J G H D K A B MACT (prune) N N wishes to leave the multicast group 211 Leaving a Multicast Tree: AODV Group leader E L C J G H A MACT (prune) D K B N Node N has removed itself from the multicast group. Now node K has become a leaf, and K is not in the group. So node K removes itself from the tree as well. 212 Leaving a Multicast Tree: AODV Group leader E L C J G H D K A B N Nodes N and K are no more in the multicast tree. 213 Handling a Link Failure: AODV Multicasting When a link (X,Y) on the multicast tree breaks, the node that is further away from the leader is responsible to reconstruct the tree, say node X Node X, which is further downstream, transmits a Route Request (RREQ) Only nodes which are closer to the leader than node X’s last known distance are allowed to send RREP in response to the RREQ, to prevent nodes that are further downstream from node X from responding 214 Handling Partitions: AODV When failure of link (X,Y) results in a partition, the downstream node, say X, initiates Route Request If a Route Reply is not received in response, then node X assumes that it is partitioned from the group leader A new group leader is chosen in the partition containing node X If node X is a multicast group member, it becomes the group leader, else a group member downstream215 from X is chosen as the group leader Merging Partitions: AODV If the network is partitioned, then each partition has its own group leader When two partitions merge, group leader from one of the two partitions is chosen as the leader for the merged network The leader with the larger identifier remains group leader 216 Merging Partitions: AODV Each group leader periodically sends Group Hello Assume that two partitions exist with nodes P and Q as group leaders, and let P < Q Assume that node A is in the same partition as node P, and that node B is in the same partition as node Q Assume that a link forms between nodes A and B P B Q A 217 Merging Partitions: AODV Assume that node A receives Group Hello originated by node Q through its new neighbor B Node A asks exclusive permission from its leader P to merge the two trees using a special Route Request Node A sends a special Route Request to node Q Node Q then sends a Group Hello message (with a special flag) All tree nodes receiving this Group Hello record Q as the leader 218 Merging Partitions: AODV P A B Hello (Q) Q 219 Merging Partitions: AODV RREQ (can I repair partition) A B P RREP (Yes) Q 220 Merging Partitions: AODV P A B RREQ (repair) Q 221 Merging Partitions: AODV P Group Hello (update) A B Q Q becomes leader of the merged multicast tree New group sequence number is larger than most recent ones known to P and Q both 222 Summary: Multicast AODV Similar to unicast AODV Uses leaders to maintain group sequence numbers, and to help in tree maintenance 223 On-Demand Multicast Routing Protocol (ODMRP) ODMRP requires cooperation of nodes wishing to send data to the multicast group To construct the multicast mesh A sender node wishing to send multicast packets periodically floods a Join Data packet throughput the network Periodic transmissions are used to update the routes 224 On-Demand Multicast Routing Protocol (ODMRP) Each multicast group member on receiving a Join Data, broadcasts a Join Table to all its neighbors Join Table contains (sender S, next node N) pairs next node N denotes the next node on the path from the group member to the multicast sender S When node N receives the above broadcast, N becomes member of the forwarding group When node N becomes a forwarding group member, it transmits Join Table containing the entry (S,M) where M is the next hop towards node S 225 On-Demand Multicast Routing Protocol (ODMRP) Assume that S is a sender node S N M A D C B Join Data T Multicast group member 226 On-Demand Multicast Routing Protocol (ODMRP) N S A M Join Data Join Data Join Data T D Multicast group member C B 227 On-Demand Multicast Routing Protocol (ODMRP) S N M A Join Table (S,M) T D C B Join Table (S,C) Multicast group member 228 On-Demand Multicast Routing Protocol (ODMRP) Join Table (S,N) S T F N M A D F C B Join Table (S,N) F marks a forwarding group member 229 On-Demand Multicast Routing Protocol (ODMRP) Join Table (S,S) N S F M A F C B F T D Multicast group member 230 On-Demand Multicast Routing Protocol (ODMRP) F S N M A F C B F T D Join Data (T) Multicast group member 231 On-Demand Multicast Routing Protocol (ODMRP) F S N M A F Join Table (T,C) F F C B T D Join Table (T,T) Join Table (T,D) Join Table (T,C) Multicast group member 232 ODMRP Multicast Delivery A sender broadcasts data packets to all its neighbors Members of the forwarding group forward the packets Using ODMRP, multiple routes from a sender to a multicast receiver may exist due to the mesh structure created by the forwarding group members 233 ODMRP No explicit join or leave procedure A sender wishing to stop multicasting data simply stops sending Join Data messages A multicast group member wishing to leave the group stops sending Join Table messages A forwarding node ceases its forwarding status unless refreshed by receipt of a Join Table message Link failure/repair taken into account when updating routes in response to periodic Join Data floods from 234 the senders Other Multicasting Protocols Several other multicasting proposals have been made For a comparison study, see [Lee00Infocom] 235 Geocasting in Mobile Ad Hoc Networks 236 Multicasting and Geocasting Multicast members may join or leave a multicast group whenever they desire Geocast group is defined as the set of nodes that reside in a specified geographical region Membership of a node to a geocast group is a function of the node’s physical location Unlike multicasting Geocasts are useful to deliver location-dependent information 237 Geocasting [Navas97Mobicom] Navas et al. proposed the notion of geocasting in the traditional internet Need new protocols for geocasting in mobile ad hoc networks Geocast region: Region to which a geocast message is to be delivered 238 Geocasting in MANET Flooding-based protocol [Ko99Wmcsa] Graph-based protocol [Ko2000icnp,Ko2000tech] 239 Simple Flooding-Based Geocasting Use the basic flooding algorithm, where a packet sent by a geocast sender is flooded to all reachable nodes in the network The geocast region is tagged onto the geocast message When a node receives a geocast packet by the basic flooding protocol, the packet is delivered (to upper layers) only if the node’s location is within the geocast region 240 Simple Flooding-Based Geocasting Advantages: Simplicity Disadvantages High overhead Packet reaches all nodes reachable from the source 241 Geocasting based on Location-Aided Routing (LAR) [Ko99Wmcsa] Similar to unicast LAR protocol Expected zone in unicast LAR now replaced by the geocast region Request zone determined as in unicast LAR Only nodes in the request zone forward geocast packets 242 Geocast LAR Network Space Request Zone r B A S X Y Geocast region 243 Geocast LAR If all routes between a geocast member and the source may contain nodes that are outside the request zone, geocast will not be delivered to that member Trade-off between accuracy and overhead Larger request zone increases accuracy but may also increase overhead Advantage of LAR for geocasting: No need to keep track of network topology Good approach when geocasting is performed infrequently 244 GeoTORA [Ko2000icnp,Ko2000tech] Based on link reversal algorithm TORA for unicasting in MANET TORA maintains a Directed Acyclic Graph (DAG) with only the destination node being a sink 245 Anycasting with Modified TORA [Ko2000tech] A packet is delivered to any one member of an anycast group Maintain a DAG for each anycast group Make each member of the anycast group a sink By using the outgoing links, packets may be delivered to any one sink 246 Anycasting A B F Links are bi-directional But algorithm imposes logical directions on them C E D Anycast group member G Maintain an directed acyclic graph (DAG) for each anycast group, with each group member being a sink Link between two sinks is not directed 247 DAG for Anycasting Since links between anycast group members are not given a direction, the graph is not exactly a “directed” acyclic graph So use of the term DAG here is imprecise Ignoring links between anycast group members, rest of the graph is a DAG 248 Geocasting using Modified Anycasting Geocast region A C B E D Geocast group member F G All nodes within a specified geocasting region are made sinks When a group member receives a packet, it floods it within the geocast region 249 Geocasting using Modified Anycasting Geocast region A B C E F G Links may have to be updated when a node leaves geocast region D Geocast group member 250 Geocasting using Modified Anycasting Geocast region A B F E C G Links may have to be updated when a node enters geocast region D Geocast group member 251 Some Related Work Content-based Multicasting [Zhou00MobiHoc] Recipients of a packet are determined by the contents of a packet Example: A soldier may receive information on events within his 1-mile radius Role-Based Multicast [Briesmeister00MobiHoc] Characteristics such as direction of motion are used to determine relevance of data to a node Application: Informing car drivers of road accidents, emergencies, etc. 252 Medium Access Control Protocols 253 MAC Protocols: Issues Hidden Terminal Problem Reliability Collision avoidance Congestion control Fairness Energy efficiency 254 Hidden Terminal Problem Node B can communicate with A and C both A and C cannot hear each other When A transmits to B, C cannot detect the transmission using the carrier sense mechanism If C transmits, collision will occur at node B A B C 255 MACA Solution for Hidden Terminal Problem [Karn90] When node A wants to send a packet to node B, node A first sends a Request-to-Send (RTS) to A On receiving RTS, node A responds by sending Clear-to-Send (CTS), provided node A is able to receive the packet When a node (such as C) overhears a CTS, it keeps quiet for the duration of the transfer Transfer duration is included in RTS and CTS both A B C 256 Reliability Wireless links are prone to errors. High packet loss rate detrimental to transport-layer performance. Mechanisms needed to reduce packet loss rate experienced by upper layers A B C 257 A Simple Solution to Improve Reliability When node B receives a data packet from node A, node B sends an Acknowledgement (Ack). This approach adopted in many protocols [Bharghavan94,IEEE 802.11] If node A fails to receive an Ack, it will retransmit the packet A B C 258 IEEE 802.11 Wireless MAC Distributed and centralized MAC components Distributed Coordination Function (DCF) Point Coordination Function (PCF) DCF suitable for multi-hop ad hoc networking 259 IEEE 802.11 DCF Uses RTS-CTS exchange to avoid hidden terminal problem Any node overhearing a CTS cannot transmit for the duration of the transfer Uses ACK to achieve reliability Any node receiving the RTS cannot transmit for the duration of the transfer To prevent collision with ACK when it arrives at the sender When B is sending data to C, node A will keep quite A B C 260 Collision Avoidance With half-duplex radios, collision detection is not possible CSMA/CA: Wireless MAC protocols often use collision avoidance techniques, in conjunction with a (physical or virtual) carrier sense mechanism Carrier sense: When a node wishes to transmit a packet, it first waits until the channel is idle Collision avoidance: Once channel becomes idle, the node waits for a randomly chosen duration before 261 attempting to transmit Congestion Avoidance: IEEE 802.1 DCF When transmitting a packet, choose a backoff interval in the range [0,cw] cw is contention window Count down the backoff interval when medium is idle Count-down is suspended if medium becomes busy When backoff interval reaches 0, transmit RTS 262 DCF Example B1 = 25 B1 = 5 wait data data B2 = 20 cw = 31 wait B2 = 15 B2 = 10 B1 and B2 are backoff intervals at nodes 1 and 2 263 Congestion Avoidance The time spent counting down backoff intervals is a part of MAC overhead Choosing a large cw leads to large backoff intervals and can result in larger overhead Choosing a small cw leads to a larger number of collisions (when two nodes count down to 0 simultaneously) 264 MAC Protocols: Issues Hidden Terminal Problem Reliability Collision avoidance Congestion control Fairness Energy efficiency 265 Congestion Control Since the number of nodes attempting to transmit simultaneously may change with time, some mechanism to manage congestion is needed IEEE 802.11 DCF: Congestion control achieved by dynamically choosing the contention window cw 266 Binary Exponential Backoff in DCF When a node fails to receive CTS in response to its RTS, it increases the contention window cw is doubled (up to an upper bound) When a node successfully completes a data transfer, it restores cw to CWmin 267 MILD Algorithm in MACAW [Bharghavan94Sigcomm] When a node fails to receive CTS in response to its RTS, it multiplies cw by 1.5 Similar to 802.11, except that 802.11 multiplies by 2 When a node successfully completes a transfer, it reduces cw by 1 Different from 802.11 where cw is restored to Cwmin In 802.11, cw reduces much faster than it increases MACAW: cw reduces slower than it increases Exponential Increase Linear Decrease MACAW can avoid wild oscillations of cw when congestion is high 268 IEEE 802.11 Distributed Coordination Function This slide is deleted (the slide in the MobiCom 2000 handout erroneously duplicated an earlier slide) 269 Fairness Issue Many definitions of fairness plausible Simplest definition: All nodes should receive equal bandwidth A B Two flows C D 270 Fairness Issue Assume that initially, A and B both choose a backoff interval in range [0,31] but their RTSs collide Nodes A and B then choose from range [0,63] Node A chooses 4 slots and B choose 60 slots After A transmits a packet, it next chooses from range [0,31] It is possible that A may transmit several packets before B transmits its first packet A B Two flows C D 271 Fairness Issue Unfairness occurs when one node has backed off much more than some other node A B Two flows C D 272 MACAW Solution for Fairness When a node transmits a packet, it appends the cw value to the packet, all nodes hearing that cw value use it for their future transmission attempts Since cw is an indication of the level of congestion in the vicinity of a specific receiver node, MACAW proposes maintaining cw independently for each receiver Using per-receiver cw is particularly useful in multihop environments, since congestion level at different receivers can be very different 273 Weighted Fair Queueing Assign a weight to each node Bandwidth used by each node should be proportional to the weight assigned to the node 274 Distributed Fair Scheduling (DFS) [Vaidya00Mobicom] A fully distributed algorithm for achieving weighted fair queueing Chooses backoff intervals proportional to (packet size / weight) DFS attempts to mimic the centralized Self-Clocked Fair Queueing algorithm [Golestani] Works well on a LAN 275 Distributed Fair Scheduling (DFS) B1 = 10 B1 = 15 wait B1 = 5 wait Collision ! data B2 = 5 data B2 = 5 B2 = 5 Weight of node 1 = 1 Weight of node 2 = 3 B1 = 15 (DFS actually picks a random value with mean 15) Assume equal packet size B2 = 5 (DFS picks a value with mean 5) 276 Impact of Collisions After collision resolution, either node 1 or node 2 may transmit a packet The two alternatives may have different fairness properties (since collision resolution can result in priority inversion) 277 Distributed Fair Scheduling (DFS) B1 = 10 B1 = 10 wait wait data B2 = 5 B1 = 5 wait data B2 = 5 da data B2 = 5 Collision resolution 278 Distributed Fair Scheduling DFS uses randomization to reduce collisions Alleviates negative impact of synchronization DFS also uses a shifted contention window for choosing initial backoff interval Reduces priority inversion (which leads to short-term unfairness) 802.11 0 31 0 31 DFS 279 DFS Due to large cw, DFS can potentially yield lower throughput than IEEE 802.11 trade-off between fairness and throughput On multi-hop network, properties of DFS still need to be characterized Fairness in multi-hop case affected by hidden terminals May need use of a copying technique, analogous to window copying in MACAW, to share some protocol state 280 Fairness in Multi-Hop Networks Not clear how to define fairness [Ozugur98,Vaidya99MSR,Luo00Mobicom, Nandagopal00Mobicom] Shared nature of wireless channel creates difficulty in determining a suitable definition of fairness in a multihop network Hidden terminals make it difficult to achieve a desired notion of fairness 281 Balanced MAC [Ozugur98] Variation on p-persistent protocol A link access probability p_ij is assigned to each link (i,j) from node i to node j p_ij is a function of the 1-hop neighbors of node i and 1-hop neighbors of all neighbors of node i Node i picks a back-off interval, and when it counts to 0, node i transmits with probability p_ij Otherwise, it picks another backoff interval, and repeats 282 Balanced MAC degree of node j p_ij is typically = -------------------------------------------------maximum degree of all neighbors of node i With an exception for the node whose degree is highest among all neighbors of i – For this neighbor k, link access probability is set to min (1,degree of i/degree of k) 283 Balanced MAC 2/3 K 2/5 E 3 2/3 2/3 D 1/2 2/3 3/5 3/5 3/4 2 B 2/5 2/5 1/2 5 J 1/3 1/4 3/5 4/5 4 3/4 L 1 F 1/4 1/5 1/4 A 1/2 4/5 1/5 H C 2/5 1 2/5 G 2 284 Balanced MAC Results show that it can sometimes (not always) improve fairness Fairness definition used here: max throughput / min throughout Large fairness index indicates poor fairness Balanced MAC does not seem to be based on a mathematical argument Not clear what properties it satisfies (approximates) in general 285 Estimation-Based Fair MAC [Bansou00MobiHoc] Attempts to equalize throughput/weight ratio for all nodes Two parts of the algorithm Fair share estimation Window adjustment Each node estimates how much bandwidth (W) it is able to use, and the amount of bandwidth used by each station in its vicinity Estimation based on overheard RTS, CTS, DATA packets 286 Estimation-Based Fair MAC Fair share estimation: Node estimates how much bandwidth (Wi) it is able to use, and the amount of bandwidth (Wo) used by by all other neighbors combined Estimation based on overheard RTS, CTS, DATA packets 287 Estimation-Based Fair MAC Define: Ti = Wi / weight of i To = Wo / weight assigned to the group of neighbors of i Fairness index = Ti / To Window adjustment: If fairness index is too large, cw = cw * 2 Else if fairness index is too small, cw = cw / 2 Else no change to cw (contention window) 288 Proportional Fair Contention Resolution (PFCR) [Nandagopal00Mobicom] Proportional fairness: Allocate bandwidth Ri to node i such that any other allocation Si has the following property Si (Si-Ri) / Ri < 0 Link access probability is dynamically changed depending on success/failure at transmitting a packet On success: Link access probability is increased by an additive factor a On failure: Link access probability is decreased by a multiplicative factor (1-b) 289 Proportional Fair Contention Resolution (PFCR) Comparison with Balanced MAC Both dynamically choose link access probability, but balanced MAC chooses it based on connectivity, while PFCR bases it on link access success/failure Balanced MAC does not attempt to achieve any particular formal definition of fairness, unlike PFCR Comparison with Estimation-based MAC Estimation-based MAC needs an estimate of bandwidth used by other nodes Estimation-based MAC chooses contention window dynamically, while PFCR chooses link access probability 290 Sender-Initiated Protocols The protocols discussed so far are sender-initiated protocols The sender initiates a packet transfer to a receiver 291 Receive-Initiated Collision Avoidance [Garcia99Mobicom] A receiver sends a message to a sender requesting it to being a packet transfer Difficulty: The receiver must somehow know (or poll to find out) when a sender has a packet to send Issue of fairness using receiver-based protocols has not been studied (to my knowledge) No reason to believe that receiver-initiated approach can achieve better fairness than source-initiate approach 292 Using Receiver’s Help in a Sender-Initiated Protocol For the scenario below, when node A sends an RTS to B, while node C is transmitting to D, node B cannot reply with a CTS, since B knows that D is sending to C When the transfer from C to D is complete, node B can send a Request-to-send-RTS to node A [Bharghavan94Sigcomm] Node A then immediately sends RTS to node B A B C D 293 This approach, however, does not work in the scenario below Node B may not receive the RTS from A at all, due to interference with transmission from C A B C D 294 Receiver-Based Adaptive Rate Control [Holland00tech] Multi-rate radios are capable of transmitting at several rates, using different modulation schemes WaveLan [Kamerman97] uses a sender-based mechanism for determining the suitable rate Rate is decreased if packets cannot be transmitted at a higher rate Rate is increased if successful transmissions at lower rate Receiver can potentially provide a better estimate of channel quality Receiver-based decision mechanism for choosing appropriate modulation scheme can perform better 295 MAC for Directional Antennas Use of directional antennas can improve performance Existing MAC protocols typically assume omnidirectional antennas [Ko00Infocom] presents a modification of IEEE 802.11 suitable for directional antennas Carrier sense is applied on a per-antenna basis Directional antennas may not be suitable for small devices due to size constraints 296 MAC Protocols: Issues Hidden Terminal Problem Reliability Collision avoidance Congestion control Fairness Energy efficiency 297 Energy Conserving MAC Since many mobile hosts are operated by batteries, MAC protocols which conserve energy are of interest Proposals for reducing energy consumption typically suggest turning the radio off when not needed 298 Power Saving Mode in IEEE 802.11 (Infrastructure Mode) An Access Point periodically transmits a beacon indicating which nodes have packets waiting for them Each power saving (PS) node wakes up periodically to receive the beacon If a node has a packet waiting, then it sends a PSPoll After waiting for a backoff interval in [0,CWmin] Access Point sends the data in response to PS-poll 299 Power Aware Multi-Access Protocol (PAMAS) [Singh98] A node powers off its radio while a neighbor is transmitting to someone else Node A sending to B Node C stays powered off B A C 300 Power Aware Multi-Access Protocol (PAMAS) What should node C do when it wakes up and finds that D is transmitting to someone else C does not know how long the transfer will last Node D sending to E Node A sending to B C stays powered off B A C D C wakes up and finds medium busy E 301 PAMAS PAMAS uses a control channel separate from the data channel Node C on waking up performs a binary probe to determine the length of the longest remaining transfer C sends a probe packet with parameter L All nodes which will finish transfer in interval [L/2,L] respond Depending on whether node C see silence, collision, or a unique response it takes varying actions Node C (using procedure above) determines the duration of time to go back to sleep 302 Disadvantages of PAMAS Use of a separate control channel Nodes have to be able to receive on the control channel while they are transmitting on the data channel And also transmit on data and control channels simultaneously A node (such as C) should be able to determine when probe responses from multiple senders collide 303 Another Proposal in PAMAS To avoid the probing, a node should switch off the interface for data channel, but not for the control channel (which carries RTS/CTS packets) Advantage: Each sleeping node always know how long to sleep by watching the control channel Disadvantage: This may not be useful when hardware is shared for the control and data channels It may not be possible turn off much hardware due to the sharing 304 Other MAC Protocols Lot of other protocols ! See past MobiCom, WCNC, MilCom, VTC, etc., conferences 305 UDP on Mobile Ad Hoc Networks 306 User Datagram Protocol (UDP) UDP provides unreliable delivery Studies comparing different routing protocols for MANET typically measure UDP performance Several performance metrics are often used Routing overhead per data packet Packet loss rate Packet delivery delay 307 UDP Performance Several relevant studies [Broch98Mobicom,Das9ic3n,Johansson99Mobicom, Das00Infocom,Jacquet00Inria] Results comparing a specific pair of protocols do not always agree, but some general (and intuitive) conclusions can be drawn Reactive protocols may yield lower routing overhead than proactive protocols when communication density is low Reactive protocols tend to loose more packets (assuming than network layer drops packets if a route is not known) Proactive protocols perform better with high mobility and dense communication graph 308 UDP Performance Many variables affect performance Traffic characteristics • one-to-many, many-to-one, many-to-many • small bursts, large file transfers, real-time, non-real-time Mobility characteristics • low/high rate of movement • do nodes tend to move in groups Node capabilities • transmission range (fixed, changeable) • battery constraints Performance metrics • delay • throughput • latency • routing overhead Static or dynamic system characteristics (listed above) 309 UDP Performance Difficult to identify a single scheme that will perform well in all environments Holy grail: Routing protocol that dynamically adapts to all environments so as to optimize “performance” Performance metrics may differ in different environments 310 TCP on Mobile Ad Hoc Networks 311 Overview of Transmission Control Protocol / Internet Protocol (TCP/IP) 312 Internet Protocol (IP) Packets may be delivered out-of-order Packets may be lost Packets may be duplicated 313 Transmission Control Protocol (TCP) Reliable ordered delivery Implements congestion avoidance and control Reliability achieved by means of retransmissions if necessary End-to-end semantics Acknowledgements sent to TCP sender confirm delivery of data received by TCP receiver Ack for data sent only after data has reached receiver 314 TCP Basics Cumulative acknowledgements An acknowledgement ack’s all contiguously received data TCP assigns byte sequence numbers For simplicity, we will assign packet sequence numbers Also, we use slightly different syntax for acks than normal TCP syntax In our notation, ack i acknowledges receipt of packets through packet i 315 Cumulative Acknowledgements A new cumulative acknowledgement is generated only on receipt of a new in-sequence packet 40 39 33 38 34 41 35 40 34 39 35 i 37 data 38 36 i 36 ack 37 316 Duplicate Acknowledgements A dupack is generated whenever an out-of-order segment arrives at the receiver 40 39 38 37 34 42 41 36 40 36 (Above example assumes delayed acks) 39 36 Dupack On receipt of 38 317 Window Based Flow Control Sliding window protocol Window size minimum of receiver’s advertised window - determined by available buffer space at the receiver congestion window - determined by the sender, based on feedback from the network Sender’s window 1 2 3 4 5 6 7 8 9 10 11 12 13 Acks received Not transmitted 318 Window Based Flow Control Sender’s window 1 2 3 4 5 6 7 8 9 10 11 12 13 Ack 5 1 2 3 4 5 6 7 8 9 10 11 12 13 Sender’s window 319 Window Based Flow Control Congestion window size bounds the amount of data that can be sent per round-trip time Throughput <= W / RTT 320 Ideal Window Size Ideal size = delay * bandwidth delay-bandwidth product What if window size < delay*bw ? Inefficiency (wasted bandwidth) What if > delay*bw ? Queuing at intermediate routers • increased RTT due to queuing delays Potentially, packet loss 321 How does TCP detect a packet loss? Retransmission timeout (RTO) Duplicate acknowledgements 322 Detecting Packet Loss Using Retransmission Timeout (RTO) At any time, TCP sender sets retransmission timer for only one packet If acknowledgement for the timed packet is not received before timer goes off, the packet is assumed to be lost RTO dynamically calculated 323 Retransmission Timeout (RTO) calculation RTO = mean + 4 mean deviation Standard deviation s : s 2 = average of (sample – mean)2 Mean deviation d = average of |sample – mean| Mean deviation easier to calculate than standard deviation Mean deviation is more conservative: d >= s 324 Exponential Backoff Double RTO on each timeout T1 T2 = 2 * T1 Timeout interval doubled Packet transmitted Time-out occurs before ack received, packet retransmitted 325 Fast Retransmission Timeouts can take too long how to initiate retransmission sooner? Fast retransmit 326 Detecting Packet Loss Using Dupacks: Fast Retransmit Mechanism Dupacks may be generated due to packet loss, or out-of-order packet delivery TCP sender assumes that a packet loss has occurred if it receives three dupacks consecutively 12 11 10 9 8 7 Receipt of packets 9, 10 and 11 will each generate a dupack from the receiver. The sender, on getting these dupacks, will retransmit packet 8. 327 Congestion Avoidance and Control Slow Start: cwnd grows exponentially with time during slow start When cwnd reaches slow-start threshold, congestion avoidance is performed Congestion avoidance: cwnd increases linearly with time during congestion avoidance Rate of increase could be lower if sender does not always have data to send 328 Congestion Window size (segments) 14 Congestion avoidance 12 10 8 Slow start threshold 6Slow start 4 2 0 0 1 2 3 4 5 6 7 8 Time (round trips) Example assumes that acks are not delayed 329 Congestion Control On detecting a packet loss, TCP sender assumes that network congestion has occurred On detecting packet loss, TCP sender drastically reduces the congestion window Reducing congestion window reduces amount of data that can be sent per RTT 330 Congestion Control -- Timeout On a timeout, the congestion window is reduced to the initial value of 1 MSS The slow start threshold is set to half the window size before packet loss more precisely, ssthresh = maximum of min(cwnd,receiver’s advertised window)/2 and 2 MSS Slow start is initiated 331 25 cwnd = 20 20 15 10 ssthresh = 10 ssthresh = 8 5 25 22 20 15 12 9 6 3 0 0 Congestion window (segments) After timeout Time (round trips) 332 Congestion Control - Fast retransmit Fast retransmit occurs when multiple (>= 3) dupacks come back Fast recovery follows fast retransmit Different from timeout : slow start follows timeout timeout occurs when no more packets are getting across fast retransmit occurs when a packet is lost, but latter packets get through ack clock is still there when fast retransmit occurs no need to slow start 333 Fast Recovery ssthresh = min(cwnd, receiver’s advertised window)/2 (at least 2 MSS) retransmit the missing segment (fast retransmit) cwnd = ssthresh + number of dupacks when a new ack comes: cwnd = ssthreh enter congestion avoidance Congestion window cut into half 334 Window size (segments) After fast recovery 10 Receiver’s advertised window 8 6 4 2 0 0 2 4 6 8 10 12 14 Time (round trips) After fast retransmit and fast recovery window size is reduced in half. 335 TCP Reno Slow-start Congestion avoidance Fast retransmit Fast recovery 336 TCP Performance in Mobile Ad Hoc Networks 337 Performance of TCP Several factors affect TCP performance in MANET: Wireless transmission errors Multi-hop routes on shared wireless medium For instance, adjacent hops typically cannot transmit simultaneously Route failures due to mobility 338 Random Errors If number of errors is small, they may be corrected by an error correcting code Excessive bit errors result in a packet being discarded, possibly before it reaches the transport layer 339 Random Errors May Cause Fast Retransmit 40 39 38 37 34 36 Example assumes delayed ack - every other packet ack’d 340 Random Errors May Cause Fast Retransmit 41 40 34 39 38 36 Example assumes delayed ack - every other packet ack’d 341 Random Errors May Cause Fast Retransmit 42 41 40 36 39 36 dupack Duplicate acks are not delayed 342 Random Errors May Cause Fast Retransmit 43 42 36 41 40 36 36 Duplicate acks 343 Random Errors May Cause Fast Retransmit 44 43 42 36 41 36 36 3 duplicate acks trigger fast retransmit at sender 344 Random Errors May Cause Fast Retransmit Fast retransmit results in retransmission of lost packet reduction in congestion window Reducing congestion window in response to errors is unnecessary Reduction in congestion window reduces the throughput 345 Sometimes Congestion Response May be Appropriate in Response to Errors On a CDMA channel, errors occur due to interference from other user, and due to noise [Karn99pilc] Interference due to other users is an indication of congestion. If such interference causes transmission errors, it is appropriate to reduce congestion window If noise causes errors, it is not appropriate to reduce window When a channel is in a bad state for a long duration, it might be better to let TCP backoff, so that it does not unnecessarily attempt retransmissions while the channel remains in the bad state [Padmanabhan99pilc] 346 Impact of Random Errors [Vaidya99] 1600000 1200000 800000 bits/sec 400000 0 16384 32768 65536 131072 1/error rate (in bytes) Exponential error model 2 Mbps wireless full duplex link No congestion losses 347 Burst Errors May Cause Timeouts If wireless link remains unavailable for extended duration, a window worth of data may be lost driving through a tunnel passing a truck Timeout results in slow start Slow start reduces congestion window to 1 MSS, reducing throughput Reduction in window in response to errors unnecessary 348 Random Errors May Also Cause Timeout Multiple packet losses in a window can result in timeout when using TCP-Reno (and to a lesser extent when using SACK) 349 Impact of Transmission Errors TCP cannot distinguish between packet losses due to congestion and transmission errors Unnecessarily reduces congestion window Throughput suffers 350 This Tutorial This tutorial does not consider techniques to improve TCP performance in presence of transmission errors Please refer to the Tutorial on TCP for Wireless and Mobile Hosts presented by Vaidya at MobiCom 1999, Seattle The tutorial slides are presently available from http://www.cs.tamu.edu/faculty/vaidya/ (follow the link to Seminars) [Montenegro00-RFC2757] discusses related issues 351 This Tutorial This tutorial considers impact of multi-hop routes and route failures due to mobility 352 Mobile Ad Hoc Networks May need to traverse multiple links to reach a destination 353 Mobile Ad Hoc Networks Mobility causes route changes 354 Throughput over Multi-Hop Wireless Paths [Gerla99] Connections over multiple hops are at a disadvantage compared to shorter connections, because they have to contend for wireless access at each hop 355 Impact of Multi-Hop Wireless Paths [Holland99] 1600 1400 1200 1000 800 600 400 200 0 TCP Throughtput (Kbps) 1 2 3 4 5 6 7 8 9 10 Number of hops TCP Throughput using 2 Mbps 802.11 MAC 356 Throughput Degradations with Increasing Number of Hops Packet transmission can occur on at most one hop among three consecutive hops Increasing the number of hops from 1 to 2, 3 results in increased delay, and decreased throughput Increasing number of hops beyond 3 allows simultaneous transmissions on more than one link, however, degradation continues due to contention between TCP Data and Acks traveling in opposite directions When number of hops is large enough, the throughput stabilizes due to effective pipelining 357 Ideal Throughput f(i) = fraction of time for which shortest path length between sender and destination is I T(i) = Throughput when path length is I From previous figure Ideal throughput = S f(i) * T(i) 358 Impact of Mobility TCP Throughput 2 m/s 10 m/s Ideal throughput (Kbps) 359 Impact of Mobility 20 m/s 30 m/s Ideal throughput 360 Throughput generally degrades with increasing speed … Ideal Average Throughput Over 50 runs Actual Speed (m/s) 361 But not always … 30 m/s 20 m/s Actual throughput Mobility pattern # 362 Why Does Throughput Degrade? mobility causes link breakage, resulting in route failure Route is repaired TCP sender times out. Starts sending packets again No throughput No throughput despite route repair TCP data and acks en route discarded 363 Why Does Throughput Degrade? mobility causes link breakage, resulting in route failure TCP sender times out. Backs off timer. Route is repaired TCP sender times out. Resumes sending No throughput No throughput despite route repair Larger route repair delays especially harmful TCP data and acks en route discarded 364 Why Does Throughput Improve? Low Speed Scenario C B D C D B A C D B A A 1.5 second route failure Route from A to D is broken for ~1.5 second. When TCP sender times after 1 second, route still broken. TCP times out after another 2 seconds, and only then resumes. 365 Why Does Throughput Improve? Higher (double) Speed Scenario C B D C D B A C D B A A 0.75 second route failure Route from A to D is broken for ~ 0.75 second. When TCP sender times after 1 second, route is repaired. 366 Why Does Throughput Improve? General Principle The previous two slides show a plausible cause for improved throughput TCP timeout interval somewhat (not entirely) independent of speed Network state at higher speed, when timeout occurs, may be more favorable than at lower speed Network state Link/route status Route caches Congestion 367 How to Improve Throughput (Bring Closer to Ideal) Network feedback Inform TCP of route failure by explicit message Let TCP know when route is repaired Probing Explicit notification Reduces repeated TCP timeouts and backoff 368 Performance Improvement With feedback Actual throughput Without network feedback Ideal throughput 2 m/s speed 369 Performance Improvement With feedback Actual throughput Without network feedback Ideal throughput 30 m/s speed 370 throughput as a fraction of ideal Performance with Explicit Notification [Holland99] 1 0.8 Base TCP 0.6 With explicit notification 0.4 0.2 0 2 10 20 30 mean speed (m/s) 371 Issues Network Feedback Network knows best (why packets are lost) + Network feedback beneficial - Need to modify transport & network layer to receive/send feedback Need mechanisms for information exchange between layers [Holland99] discusses alternatives for providing feedback (when routes break and repair) [Chandran98] also presents a feedback scheme 372 Impact of Caching Route caching has been suggested as a mechanism to reduce route discovery overhead [Broch98] Each node may cache one or more routes to a given destination When a route from S to D is detected as broken, node S may: Use another cached route from local cache, or Obtain a new route using cached route at another node 373 To Cache or Not to Cache Average speed (m/s) 374 Why Performance Degrades With Caching When a route is broken, route discovery returns a cached route from local cache or from a nearby node After a time-out, TCP sender transmits a packet on the new route. However, the cached route has also broken after it was cached timeout due to route failure timeout, cached timeout, second cached route is broken route also broken Another route discovery, and TCP time-out interval Process repeats until a good route is found 375 Issues To Cache or Not to Cache Caching can result in faster route “repair” Faster does not necessarily mean correct If incorrect repairs occur often enough, caching performs poorly Need mechanisms for determining when cached routes are stale 376 Caching and TCP performance Caching can reduce overhead of route discovery even if cache accuracy is not very high But if cache accuracy is not high enough, gains in routing overhead may be offset by loss of TCP performance due to multiple time-outs 377 TCP Performance Two factors result in degraded throughput in presence of mobility: Loss of throughput that occurs while waiting for TCP sender to timeout (as seen earlier) This factor can be mitigated by using explicit notifications and better route caching mechanisms Poor choice of congestion window and RTO values after a new route has been found How to choose cwnd and RTO after a route change? 378 Issues Window Size After Route Repair Same as before route break: may be too optimistic Same as startup: may be too conservative Better be conservative than overly optimistic Reset window to small value after route repair Let TCP figure out the suitable window size Impact low on paths with small delay-bw product 379 Issues RTO After Route Repair Same as before route break Same as TCP start-up (6 second) Another plausible approach: new RTO = function of old RTO, old route length, and new route length If new route long, this RTO may be too small, leading to timeouts May be too large May result in slow response to next packet loss Example: new RTO = old RTO * new route length / old route length Not evaluated yet Pitfall: RTT is not just a function of route length 380 Out-of-Order Packet Delivery Out-of-order (OOO) delivery may occur due to: Route changes Link layer retransmissions schemes that deliver OOO Significantly OOO delivery confuses TCP, triggering fast retransmit Potential solutions: Deterministically prefer one route over others, even if multiple routes are known Reduce OOO delivery by re-ordering received packets can result in unnecessary delay in presence of packet loss Turn off fast retransmit can result in poor performance in presence of congestion • • 381 Impact of Acknowledgements TCP Acks (and link layer acks) share the wireless bandwidth with TCP data packets Data and Acks travel in opposite directions In addition to bandwidth usage, acks require additional receive-send turnarounds, which also incur time penalty To reduce frequency of send-receive turnaround and contention between acks and data 382 Impact of Acks: Mitigation [Balakrishnan97] Piggybacking link layer acks with data Sending fewer TCP acks - ack every d-th packet (d may be chosen dynamically) • but need to use rate control at sender to reduce burstiness (for large d) Ack filtering - Gateway may drop an older ack in the queue, if a new ack arrives reduces number of acks that need to be delivered to the sender 383 Security Issues 384 Caveat Much of security-related stuff is mostly beyond my expertise So coverage of this topic is very limited 385 Security Issues in Mobile Ad Hoc Networks Not much work in this area as yet Many of the security issues are same as those in traditional wired networks and cellular wireless What’s new ? 386 What’s New ? Wireless medium is easy to snoop on Due to ad hoc connectivity and mobility, it is hard to guarantee access to any particular node (for instance, to obtain a secret key) Easier for trouble-makers to insert themselves into a mobile ad hoc network (as compared to a wired network) 387 Resurrecting Duckling [Stajano99] Battery exhaustion threat: A malicious node may interact with a mobile node often with the goal of draining the mobile node’s battery Authenticity: Who can a node talk to safely? Resurrecting duckling: Analogy based on a duckling and its mother. Apparently, a duckling assumes that the first object it hears is the mother A mobile device will trust first device which sends a secret key 388 Secure Routing [Zhou99] Attackers may inject erroneous routing information By doing so, an attacker may be able to divert network traffic, or make routing inefficient [Zhou] suggests use of digital signatures to protect routing information and data both Such schemes need a Certification Authority to manage the private-public keys 389 Secure Routing Establishing a Certification Authority (CA) difficult in a mobile ad hoc network, since the authority may not be reachable from all nodes at all times [Zhou] suggests distributing the CA function over multiple nodes 390 MANET Authentication Architecture [Jacobs99ietf-id] Digital signatures to authenticate a message Key distribution via certificates Need access to a certification authority [Jacobs99ietf-id] specifies message formats to be used to carry signature, etc. 391 Techniques for Intrusion-Resistant Ad Hoc Routing Algorithms (TIARA) [Ramanujan00Milcom] Flow disruption attack: Intruder (or compromised) node T may delay/drop/corrupt all data passing through, but leave all routing traffic unmodified B C A D T intruder 392 Techniques for Intrusion-Resistant Ad Hoc Routing Algorithms (TIARA) [Ramanujan00Milcom] Resource Depletion Attack: Intruders may send data with the objective of congesting a network or depleting batteries U B intruder C A D T Bogus traffic intruder 393 Intrusion Detection [Zhang00Mobicom] Detection of abnormal routing table updates Uses “training” data to determine characteristics of normal routing table updates (such as rate of change of routing info) Efficacy of this approach is not evaluated, and is debatable Similar abnormal behavior may be detected at other protocol layers For instance, at the MAC layer, normal behavior may be characterized for access patterns by various hosts Abnormal behavior may indicate intrusion Solutions proposed in [Zhang00Mobicom] are preliminary, not enough detail provided 394 Preventing Traffic Analysis [Jiang00iaas,Jiang00tech] Even with encryption, an eavesdropper may be able to identify the traffic pattern in the network Traffic patterns can give away information about the mode of operation Attack versus retreat Traffic analysis can be prevented by presenting “constant” traffic pattern independent of the underlying operational mode May need insertion of dummy traffic to achieve this 395 Packet Purse Model [Byttayn00MobiHoc] Cost-based approach for motivating collaboration between mobile nodes The packet purse model assigns a cost to each packet transfer Link-level recipient of a packet pays the link-level sender for the service Virtual money (“beans”) used for this purpose Security issues: How to ensure that some node does not sale the same packet to too many people to make money ? How to ensure that each receiver indeed has money to pay396 for service? Implementation Issues 397 Existing Implementations Several implementations apparently exist (see IETF MANET web site) Only a few available publicly [Maltz99,Broch99] Most implementations focus on unicast routing 398 CMU Implementation [Maltz99] User space TCP/UDP Kernel space DSR option processing (RREQ, RREP,…) Route cache Send buffer rexmit buffer IP Route table DSR Output dsr_xmit Kernel space Physical devices WaveLan-I CDPD 399 CMU Implementation: Lessons Learned Multi-level priority queues helpful: Give higher priority to routing control packets, and lower for data If retransmission is implemented above the link layer, it must be adaptive to accommodate congestion Since Wavelan-I MAC does not provide retransmissions, DSR performs retransmits itself DSR per-hop ack needs to contend for wireless medium Time to get the ack (RTT) is dependent on congestion TCP-like RTT estimation and RTO used for triggering retransmits by DSR on each hop This is not very relevant when using IEEE 802.11 where the ack is sent immediately after data reception 400 CMU Implementation: Lessons Learned “Wireless propagation is not what you would expect” [Maltz99] Straight flat areas with line-of-sight connectivity had worst error rates “Bystanders will think you are nuts” [Maltz99] If you are planning experimental studies in the streets, it may be useful to let police and security guards know in advance what you are up to 401 BBN Implementation [Ramanathan00Wcnc] Density and Asymmetric-Adaptive Wireless Network (DAWN) Quote from [Ramanathan00Wcnc]: DAWN is a “subnet” or “link” level system from IP’s viewpoint and runs “below” IP Nokia IP Stack DAWN IP Gateway DAWN Protocols = Topology control Scalable Link State Routing Elastic Virtual Circuits Qos Based Forwarding Nokia MAC Utilicom 2050 Radio 402 DAWN Features Topology control by transmit power control To avoid topologies that are too sparse or too dense To extend battery life Scalable link state routing: Link state updates with small TTL (time-to-live) sent more often, than those with greater TTL As a packet gets closer to the destination, more accurate info is used for next hop determination Elastic Virtual Circuits (VC): Label switching through the DAWN nodes (label = VC id) Path repaired transparent to the endpoints when hosts along 403 the path move away Implementation Issues: Where to Implement Ad Hoc Routing Link layer Network layer Application layer 404 Implementation Issues: Address Assignment Restrict all nodes within a given ad hoc network to belong to the same subnet Routing within the subnet using ad hoc routing protocol Routing to/from outside the subnet using standard internet routing Nodes may be given random addresses Routing to/from outside world becomes difficult unless Mobile IP is used 405 Implementation Issues: Address Assignment How to assign the addresses ? Non-random address assignment: DHCP for ad hoc network ? Random assignment What happens if two nodes get the same address ? Duplicate address detection needed One procedure for detecting duplicates within a connected component [Perkins00ietf-id]: When a node picks address A, it first performs a few route discoveries for destination A. If no route reply is received, then address A is assumed to be unique. 406 Implementation Issues: Security How can I trust you to forward my packets without tampering? Need to be able to detect tampering How do I know you are what you claim to be ? Authentication issues Hard to guarantee access to a certification authority 407 Implementation Issues Can we make any guarantees on performance? When using a non-licensed band, difficult to provide hard guarantees, since others may be using the same band Must use an licensed channel to attempt to make any guarantees 408 Implementation Issues Only some issues have been addresses in existing implementations Security issues typically ignored Address assignment issue also has not received sufficient attention 409 Integrating MANET with the Internet [Broch99] Mobile IP + MANET routing At least one node in a MANET should act as a gateway to the rest of the world Such nodes may be used as foreign agents for Mobile IP IP packets would be delivered to the foreign agent of a MANET node using Mobile IP. Then, MANET routing will route the packet from the foreign agent to the mobile host. 410 Distributed Algorithms for Mobile Ad Hoc Networks 411 Distributed Algorithms For traditional networks, there is a rich history of work on distributed algorithms for various problems including clock synchronization mutual exclusion leader election Byzantine agreement …. 412 Distributed Algorithms There is also a large body of work on distributed algorithms for dynamic networks wherein links may come up or down [Afek89] Similarity: Work on dynamic networks is applicable to ad hoc networks, since both share the dynamic topology change property Difference: In ad hoc networks, link failure and repair caused by the movement of a single node are likely to be in vicinity of each other, and hence correlated In dynamic networks research, link events are usually assumed to be independent 413 Distributed Algorithms: Research Opportunities Evaluation of existing algorithms for dynamic networks when applied to MANET Identify shortcomings, if any Design improvements New distributed algorithms designed for mobile ad hoc networks Limited research on distributed algorithms designed for MANET. Some examples: Mutual exclusion [Walter98DialM] Leader election [Royer99Mobicom,Malpani00DialM] … 414 Related Standards Activities 415 Internet Engineering Task Force (IETF) Activities IETF manet (Mobile Ad-hoc Networks) working group http://www.ietf.org/html.charters/manet-charter.html IETF mobileip (IP Routing for Wireless/Mobile Hosts) working group http://www.ietf.org/html.charters/mobileip-charter.html 416 Internet Engineering Task Force (IETF) Activities IETF pilc (Performance Implications of Link Characteristics) working group http://www.ietf.org/html.charters/pilc-charter.html http://pilc.grc.nasa.gov Refer [RFC2757] for an overview of related work 417 Related Standards Activities BlueTooth http://www.bluetooth.com HomeRF [Lansford00ieee] http://www.homerf.org IEEE 802.11 http://grouper.ieee.org/groups/802/11/ Hiperlan/2 http://www.etsi.org/technicalactiv/hiperlan2.htm 418 Bluetooth [Haartsen98,Bhagawat00Tutorial] Features: Cheaper, smaller, low power, ubiquitous, unlicensed frequency band Spec version 1.0B released December 1999 (1000+ pages) Promoter group consisting of 9 Ericsson, IBM, Intel, Nokia, Toshiba, 3Com, Lucent, Microsoft, Motorola 1800+ adopters 419 Bluetooth: Link Types Designed to support multimedia applications that mix voice and data Synchronous Connection-Oriented (SCO) link Symmetrical, circuit-switched, point-to-point connections Suitable for voice Two consecutive slots (forward and return slots) reserved at fixed intervals Asynchronous Connectionless (ACL) link Symmetrical or asymmetric, packet-switched, point-tomultipoint Suitable for bursty data Master units use a polling scheme to control ACL connections 420 Bluetooth: Piconet A channel is characterized by a frequency-hopping pattern Two or more terminals sharing a channel form a piconet 1 Mbps per Piconet One terminal in a piconet acts as a master and up to 7 slaves Other terminals are slaves Polling scheme: A slave may send in a slave-tomaster slot when it has been addressed by its MAC address in the previous master-to-slave slot 421 Inter-Piconet Communication A slave can belong to two different piconets, but not at the same time A slave can leave its current piconet (after informing its current master the duration of the leave) and join another piconet A maser of one piconet can also join another piconet temporarily as a slave 422 Bluetooth: Scatternet Several piconets may exist in the same area (such that units in different piconets are in each other’s range) Each piconet uses a different channel and gets 1 Mbps for the piconet Since two independently chosen hopping patterns may select same hop simultaneously with non-zero probability, some collisions between piconets are possible, reducing effective throughput A group of piconets is called a scatternet 423 Routing Ad hoc routing protocols needed to route between multiple piconets Existing protocols may need to be adapted for Bluetooth [Bhagwat99Momuc] For instance, not all nodes within transmission range of node X will hear node X Only nodes which belong to node X’s current piconet can hear the transmission from X Flooding-based schemes need to take this limitation into account • 424 Open Issues in Mobile Ad Hoc Networking 425 Open Problems Issues other than routing have received much less attention so far Other interesting problems: Address assignment problem MAC protocols Improving interaction between protocol layers Distributed algorithms for MANET QoS issues Applications for MANET 426 Related Research Areas Algorithms for dynamic networks (e.g., [Afek89]) Sensor networks [DARPA-SensIT] Ad hoc network of sensors Addressing based on data (or function) instead of name • “send this packet to a temperature sensor” 427 References Please see attached listing for the references cited in the tutorial 428 Thank you !! For more information, send e-mail to Nitin Vaidya at [email protected] © 2000 Nitin Vaidya 429
